ME185 Lab Summary The Go-Kart Powertrain. TA: Ben Stabler
|
|
- Shawn Bates
- 6 years ago
- Views:
Transcription
1 ME185 Lab 2 TA: Ben Stabler <stabler@stanford.edu> Summary The goal of the second lab is to construct an analytical model for the electric go-kart you drove last week. The model should be flexible so that you can use it to predict the capabilities of a different electric vehicle. For example, within the lab you will adapt the model to quantify the change in performance you expect to observe with a new battery configuration, and you will be expected to build a similar model to predict the characteristics of your project and justify your choice of powertrain. An accurate model will help you optimize your choice of battery, motor and motor controller, which will help you get the best performance for your budget! You will work in assigned groups of 2 (and one group of 3). Your group will need at least one copy of MATLAB. If you don t have MATLAB, you might want to consider getting the student edition, but for the time being see the TA and he will show you how to get remote access to MATLAB on one of the on-campus clusters. Download the starter files from the ME185 website Your write up should contain: o A brief answer to each question o Graphs (when appropriate) o Your MATLAB code Please submit your results in a zip file containing code directory and your write-up as a PDF by ing them to the TA! All of the members of your group should have a copy of the data they collected last week in the first lab. When you get to section you should parse each data set and then use the cleanest set for the remainder of the lab The Go-Kart Powertrain Battery configuration o 16x GBS-LFMP 40Ah cells o o Motor o o Motenergy ME Phase, Brushless, Axial Flux
2 o Motor Controller o Sevcon Gen4 o o 250A fuse o Maximum battery current limited in software to approximately 150A Drivetrain o Motor sprocket: 12 teeth o Drive axel sprocket: 40 teeth o Drive wheel diameter: 11 inches The Model The goal of the model is to inform you about how an EV powertrain will perform under real world conditions. The type of electric vehicle you are trying to characterize will determine the sort of conditions you should model. For the purpose of this lab we are modeling an electric go kart, so we describe a simple course consisting of straights and corners Corner In our model we characterize the corner with a speed and a distance: Speed Distance When the vehicle enters the corner we expect it to be travelling at a set velocity. We expect it to hold that velocity through the corner. In the context of a go-kart, we assume the corner velocity is the maximum velocity the go-kart can hold without sliding. The go-kart cannot accelerate in the corner without leaving the track, so the only power delivered by the motor during the corner is the power required to overcome losses, which are mostly air resistance, rolling resistance and cornering resistance. In the simple model we only consider air resistance.
3 2.1.2 Straight In our model a straight is characterized by distance and corner entry speed: Distance Corner entry speed Maximum speed Corner entry speed Within a straight we expect the vehicle to accelerate and pick up speed as fast as possible, and then brake as rapidly as possible so that the vehicle exits the straight (and enters the subsequent corner) at a given velocity. The acceleration and top speed of the vehicle are determined by the vehicle powertrain, mass, driving resistance, and friction between the tires and the road. The deceleration is determined mostly by the friction between the tires and the road. The vehicle must be travelling at or below the corner entry speed when it leaves the straight, or else it would leave the road Straights and Corners The straight and corner primitives are combined to form a track: : Straight, 150m, exit speed 10m/s 2: Corner, 100m, 10m/s 3: Straight, 30m, exit speed 7m/s 4: Corner, 70m, 7m/s 5: Straight, 50m, exit speed 5m/s 6: Corner, 40m, 5m/s 3 2
4 Using this representation your model does not need to know the geometry of the track, just a few specific parameters for each segment. In your simulation the vehicle will travel around the track and at each point the driver model will command the vehicle to accelerate or decelerate as appropriate, given the current speed, current segment and the vehicle s position within that segment Extensions to the model The model is a simple representation of the type of course an electric go-kart might be expected to run. If you are designing a different type of electric vehicle, for example an electric skateboard, your use case will be very different and you may want to modify the model accordingly. For example you may want to introduce slope- a climb or fall would have negligible impact on a go-kart on a short course but it would have a large impact on a low speed light commuter vehicle! Some EV powertrain concepts There are three main components in the EV powertrain: Battery Pack Motor Controller Motor Battery Pack The purpose of the battery pack is to supply current at a fixed voltage. You will recall from your physics classes that power is the product of current through a component and voltage across that component ( ), and you can calculate the power dissipated in a resistive element using the equation. The ideal battery pack would have a high voltage, because high voltage means low current for the same amount of power, and low current means less power wasted as heat in the copper cables. Too high a voltage, however, results in increased stress on the powertrain components and can be dangerous. Most commercial electric vehicles have a battery voltage around 400V, and most vehicles built by hobbyists operate at or below 72V. You may recall from chemistry that the voltage of a battery cell is an intrinsic property of the materials used to construct the cell. Lithium batteries typically have cell voltages around 3.3V, and a standard 12V car battery actually contains 6 individual cells at 2.1V each. The battery pack in an electric vehicle is constructed with many cells in series. On a lithium system, a Battery Management System (BMS) is typically employed to monitor each of the individual cells and ensure that they are within operating parameters. This isn t necessary on a lead acid system because lead acid batteries handle over- and under-charge situations gracefully (they don t catch on fire). The battery cell voltage will vary as the battery is used. At full charge, for example, a 12V lead acid battery will sit close to 14.4V. As the battery is discharged it will fall to 12V and remain there for the majority of the cycle, and as reaches full discharge it will fall to 9V or below. The following figure from a
5 1922 text titled The Automobile Storage Battery- It s Care and Repair is a battery curve for an individual cell within a 12V battery: By measuring the voltage across the battery it is possible to infer the state of charge of the batteryhowever the flat region of the curve can make it difficult to estimate the state of charge accurately. In this example the battery cell is being discharged at a rate of around. The C-Rate, or Hourly Rate, is a standard way to describe the rate of charge or discharge of a battery. It is measured relative to the total capacity of the battery. For example, a 40Ah battery being charged at a rate of 1C sees a constant current of 40A and will be fully charged in 1 hour. A 40Ah battery being charged at a rate of 2C will see 80A and will be fully charged in half an hour. When you are shopping for batteries you will find that they often specify a charge rate, a continuous discharge rate and a pulsed discharge rate, which mandate the amount of current that can flow into or out of the battery in each of those conditions. The ideal battery pack would be able to supply an infinite amount of current. In practice this is not the case- you are limited by the rate at which chemical reactions happen inside the battery as well as the resistive elements in the battery pack such as copper between batteries, battery contact points, and even the resistivity of the battery material itself. We model this as a series resistance in the battery pack: Cell 1 Cell N + - Each cell can be modeled as an ideal voltage source in series with a resistor we refer to as the internal resistance of the cell Imagine that each cell in the battery pack has an internal resistance of and a voltage of, and that there are 40 cells in the battery pack. At zero current the total voltage of the battery pack is
6 . As current is increased you start to see a voltage drop across the internal resistance of the cell, according to. At 10A the voltage drop across each virtual resistor is, so each cell has an effective voltage of and the total pack voltage is. At 200A the drop across each resistor is and total pack voltage you can observe is only! In addition to reducing the voltage observed by the motor controller, the internal resistance results in the dissipation of energy which heats the battery cells. For example, when 200A is flowing each cell dissipates of heat- directly into the cell- or (2HP) across the entire battery pack. This is a huge amount of heat to dissipate- and the reason you must abide by the maximum current specification of the battery! Motor Electric motors fall into two broad categories: brushed (commutated) motors, and brushless motors. The following images from the Wikipedia article on brushed motors describe how a commutator works: In short, the purpose of the commutator is to generate an alternating magnetic field from the fixed potential across the two terminals of the motor. An alternating magnetic field is required for continued motion of the armature. We model the electric motor as follows:
7 When an electric motor is rotating it generates an opposing electromagnetic field which induces a potential, like a generator. The faster the motor is rotating, the greater the opposing field. The first motor equation describes this relation: Where is the potential induced by the opposing EMF (commonly referred to as the back-emf), is the rate of rotation of the motor, and is a motor constant. The reference material for the motor will provide a value for or it s inverse (if your units are correct). In a no-load scenario, you can calculate the rate of rotation of the motor if you know the motor constant and the voltage applied across the motor terminals: The final motor constant, at the motor shaft:, describes the relationship between current through the motor and torque Where is torque and is current through the motor. In a series circuit current is always the same so you can calculate current using the following formula: Where is the coil resistance. You should be able to find and in the motor documentation. You cannot observe so when you are controlling a motor you generally calculate based on the speed of rotation and then use command with a given voltage to estimate the current, and therefore torque, that you can across the motor terminals. When you are using metric units you should discover that and are equal in value- if not, check your equations! Brushless motors do not us a commutator. They generally expose three power terminals, rather than two, and must be connected to a motor controller which drives it using a sinusoidal wave form. Rather than using a commutator to generate an alternating electric field from a constant voltage, a brushless motor is driven using an alternating voltage wired directly to the coils. The brushless motor and motor controller combination may be modeled in the same way as we have just modeled a brushed DC motor. Motor Controller As we have established, the speed and torque generated by the motor can be controlled by varying the voltage applied across the motor. The role of the motor controller is to take the battery pack voltage, which is fixed, and convert it to a lower voltage which is applied across the motor. The motor controller will have some interface that you can use to control the voltage across the motor, and therefore its
8 speed and torque. All motor controllers will have a current limit which you cannot exceed. More advanced motor controllers will be able to measure the speed of the motor and provide a more abstract control interface- rather than controlling the voltage directly you control the speed and the controller compensates for irregularities in torque. Many controllers also contain more sophisticated protection circuits and digital serial interfaces for control and diagnostics Understanding the MATLAB model Take some time to understand how the MATLAB model works. The file is broken into three main sections: Initialization of constants and variables The first section initializes constants and variables. There are many constants associated with the model, such as vehicle mass, traction limit, coefficient of aerodynamic drag, and even the track configuration: You should read through the constants and make sure you understand what they all mean. The track is stored in a multidimensional array. The notation track{2}{3} would retrieve the third parameter in the second segment of the track. The second segment is, a corner length 100m with a maximum speed 10m/s, and therefore the third parameter is the speed 10m/s. There are two classes of variables- variables which are recorded for later analysis, and variables which are not recorded and only have meaning within the simulation. Variables which are recorded are stored in a vector which corresponds with the time vector: The iterative loop The main segment of the model is an iterative loop which updates the vehicle velocity according to the model.
9 Track calculations The model uses V_trackpos, a variable maintaining the progress of the vehicle around the track in meters, to determine which segment of the track the vehicle is currently in (whether it s in a corner or a straight, and which particular corner or straight). At the end of the %% Track calculations section the variable vtarget is set with the instantaneous target velocity of the vehicle (the velocity that a driver would be trying to achieve at that particular time). Vehicle state Once vtarget is known, the model calculates a voltage to apply to the motor. Things get a bit complicated here. In the go-kart you (the driver) would adjust the throttle position according to your perception of speed and close a feedback loop. If you felt you were going too fast you would lift the throttle, and conversely if you started to slow down you would press the gas. The model simulates driver-throttle interaction using a simple PI loop, and treats acceleration and braking independently. You shouldn t need to modify the controller in order to complete this lab, however you should understand how the drag force is calculated, how and why voltage and braking force are bounded, and how the net vehicle force is calculated. Finally, the vehicle (longitudinal) acceleration is calculated (subject to the capability of the tires), and vehicle velocity, total distance travelled, and position around the track are calculated. Data Analysis The final section of the script plots recorded variables for interpretation.
10 2.3.0 Interpreting the model 2.3.1: Run the model (as it is provided, do not make any adjustments to the vehicle parameters). How long does it take the go-kart to complete the course on a hot lap? (A hot lap is a lap begun at speed, as opposed to the initial lap which is started from stationary) 2.3.2: Generate the vehicle speed graph from the model. Identify an example of each of the following features: (a) constant speed in a corner, (b) acceleration in a straight, (c) deceleration before a corner 2.3.3: You should notice the following plateaus in your vehicle speed graph. What do they represent? 2.3.4: Can you explain why the plateau is rounded at the beginning and sharp at the end? 2.3.5: Under hard acceleration (e.g. the initial acceleration from stopped), is the vehicle limited by the powertrain or by the traction limit? If it is the powertrain, at what maximum current does the traction limit become the dominant constraint? (see the M_IMAX constant)
11 2.4.0 Modifying the model 2.4.1: The motor constants, M_Kt and M_Ke, are incorrect (but still realistic). Use the information provided for the motor to determine the correct values. What are they? Hint: when expressed in the correct units, Kt and Ke are equal in value. Update the model with the correct values : The motor is not 100% efficient. Take a look at the power curve for a similar motor: Notice how a constant voltage is applied to the motor, however the rotational speed (RPM) of the motor declines as more torque is applied to the motor shaft. This is a symptom of motor non-idealitythe motor does not quite obey. Add an inefficiency term to your model by multiplying the torque achieved for a given current by a factor 0.9. (This is a very simple approach that does not take the nonlinearities of the motor into account. As you develop more precise models for your own vehicle, you may want to model this differently.) 2.4.3: What is the top speed of the vehicle? 2.4.4: Modify the model so that it tracks the charge remaining in the battery pack. The total battery capacity, measured in amp-hours, is 40Ah (all the batteries are in series so the total capacity of the pack, in Ah, is the same as the total capacity of an individual cell, in Ah). You can calculate the charge remaining in the battery pack by coulomb counting - measuring battery current in your model and multiplying by timestep to calculate the amount of charge dissipated each time step. Until now the model has been calculating only one current, the current through the motor. In practice the architecture looks like this: I battery Motor Controller I motor Motor Where I battery, the current through the battery, is approximately ( ) ( ) For simplicity, assume the motor controller is 95% efficient across the entire operating range : Starting from full charge, graph the remaining charge in the battery pack across three complete laps of the circuit. Approximately how much charge is dissipated? How many minutes would you expect the vehicle to run on this circuit?
12 2.4.6: What is the maximum battery current? Is it within the maximum pulsed current rating of the battery? Is it within the maximum continuous current rating? 2.4.7: Tweak parameters in your model which could be easily changed on the physical go-kart without swapping powertrain components- for example the gear ratio, drive wheel diameter and software motor controller current limit. Ensure that you do not exceed the limits of any of the components. What is the top speed when you set the maximum acceleration of the vehicle equal to the maximum acceleration the road surface allows? What is the highest top speed you can achieve while maintaining a maximum acceleration of at least 5m/s 2? What is the combination that you would pick, given your experience driving the go-kart?
13 2.5.0 Analyzing Real-World Data You have generated a CSV file using the Arduino based datalogger. The first step is to import the data into your Matlab workspace. Do this using the Import Data tool. NOTE: You need to import data into a separate instance of MATLAB, because in this section you will be comparing the model to the real world data, and some of the variable names (e.g. time ) are the same and will overwrite each other. Make sure to import as Column Vectors! After you have imported the data, run parse_data. This script converts data entries to standard units and performs some filtering. You will notice that each field in the data set has a time column associated with it. This is because each measurement is taken sequentially, so accelerometer data in a given row isn t quite matched up temporally with gyroscope data in the same row. You can decide whether this is significant for the analysis that you want to do. Your data set contains the following fields: - Time (in seconds) - Vehicle speed (in m/s) - 3 axis accelerometer data (in g) - 3 axis gyroscopic data (in radians/second) - Battery current (in amps) - Battery voltage (in volts)
14 2.5.1: Plot battery current against time. (You will probably want to use CurrentAv, which is Current after a simple low pass filter.) What is the maximum current you achieve? 2.5.2: Integrate current over time using the trapz function. How many Ah do you draw from the battery pack over your run? Estimate the number of laps you should be able to run on a fully charged pack : Plot battery power against time. What is the maximum power you achieve? What is this in horsepower? 2.5.4: Plot battery voltage and battery current against time on the same graph. You should observe the following dips in the battery voltage during periods of high current draw. This is known as sag, and there is a corresponding behavior known as lift when the battery is being charged. What might cause this? 2.5.5: Update your model with a similar current limit to what you observed on the actual go-kart (and change back any gearing ratio modifications you made). Update your model with the average battery voltage you observed in the actual go-kart. How much energy in Ah does the model consume per lap? How does this compare to the data you gathered? 2.5.6: Plot vehicle speed against time. What is the maximum speed you achieve? How does that compare to your model? Apply some averaging function to vehicle speed that allows you to calculate a realistic acceleration, and plot acceleration against time. What is the maximum acceleration you hit? What is the maximum deceleration you achieve? 2.5.8: EXTRA CREDIT: Analyze the accelerometer data. The accelerometer picks up acceleration AND gravity, and has an offset and scale error as well as random noise. Filter the data and plot a graph of longitudinal acceleration and current against time. What is the maximum acceleration you sustain? How does this compare to your model? 2.5.9: EXTRA EXTRA CREDIT: Construct a Kalman filter to combine acceleration and speed measurements. Plot filtered speed and acceleration curves against time. Include your MATLAB code. The Kalman filter
15 is an optimal observer and is frequently used to combine several noisy estimates of a dynamic system.
SUMMARY OF STANDARD K&C TESTS AND REPORTED RESULTS
Description of K&C Tests SUMMARY OF STANDARD K&C TESTS AND REPORTED RESULTS The Morse Measurements K&C test facility is the first of its kind to be independently operated and made publicly available in
More informationChapter 7: DC Motors and Transmissions. 7.1: Basic Definitions and Concepts
Chapter 7: DC Motors and Transmissions Electric motors are one of the most common types of actuators found in robotics. Using them effectively will allow your robot to take action based on the direction
More informationPre-lab Questions: Please review chapters 19 and 20 of your textbook
Introduction Magnetism and electricity are closely related. Moving charges make magnetic fields. Wires carrying electrical current in a part of space where there is a magnetic field experience a force.
More informationPre-lab Questions: Please review chapters 19 and 20 of your textbook
Introduction Magnetism and electricity are closely related. Moving charges make magnetic fields. Wires carrying electrical current in a part of space where there is a magnetic field experience a force.
More informationMotor Technologies Motor Sizing 101
Motor Technologies Motor Sizing 101 TN-2003 REV 161221 PURPOSE This technical note addresses basic motor sizing with simple calculations that can be done to generally size any motor application. It will
More informationLecture PowerPoints. Chapter 21 Physics: Principles with Applications, 7th edition, Global Edition Giancoli
Lecture PowerPoints Chapter 21 Physics: Principles with Applications, 7th edition, Global Edition Giancoli This work is provided solely for the use of instructors in teaching their courses and assessing
More informationEECS 461 Final Project: Adaptive Cruise Control
EECS 461 Final Project: Adaptive Cruise Control 1 Overview Many automobiles manufactured today include a cruise control feature that commands the car to travel at a desired speed set by the driver. In
More informationView Numbers and Units
To demonstrate the usefulness of the Working Model 2-D program, sample problem 16.1was used to determine the forces and accelerations of rigid bodies in plane motion. In this problem a cargo van with a
More informationABS. Prof. R.G. Longoria Spring v. 1. ME 379M/397 Vehicle System Dynamics and Control
ABS Prof. R.G. Longoria Spring 2002 v. 1 Anti-lock Braking Systems These systems monitor operating conditions and modify the applied braking torque by modulating the brake pressure. The systems try to
More informationApplication Information
Moog Components Group manufactures a comprehensive line of brush-type and brushless motors, as well as brushless controllers. The purpose of this document is to provide a guide for the selection and application
More informationMotional emf. as long as the velocity, field, and length are mutually perpendicular.
Motional emf Motional emf is the voltage induced across a conductor moving through a magnetic field. If a metal rod of length L moves at velocity v through a magnetic field B, the motional emf is: ε =
More informationECSE-2100 Fields and Waves I Spring Project 1 Beakman s Motor
Names _ and _ Project 1 Beakman s Motor For this project, students should work in groups of two. It is permitted for groups to collaborate, but each group of two must submit a report and build the motor
More informationPermanent Magnet DC Motor
Renewable Energy Permanent Magnet DC Motor Courseware Sample 86357-F0 A RENEWABLE ENERGY PERMANENT MAGNET DC MOTOR Courseware Sample by the staff of Lab-Volt Ltd. Copyright 2011 Lab-Volt Ltd. All rights
More informationELEN 236 DC Motors 1 DC Motors
ELEN 236 DC Motors 1 DC Motors Pictures source: http://hyperphysics.phy-astr.gsu.edu/hbase/magnetic/mothow.html#c1 1 2 3 Some DC Motor Terms: 1. rotor: The movable part of the DC motor 2. armature: The
More informationCHAPTER THREE DC MOTOR OVERVIEW AND MATHEMATICAL MODEL
CHAPTER THREE DC MOTOR OVERVIEW AND MATHEMATICAL MODEL 3.1 Introduction Almost every mechanical movement that we see around us is accomplished by an electric motor. Electric machines are a means of converting
More informationIntroduction: Electromagnetism:
This model of both an AC and DC electric motor is easy to assemble and disassemble. The model can also be used to demonstrate both permanent and electromagnetic motors. Everything comes packed in its own
More informationFaraday's Law of Induction
Purpose Theory Faraday's Law of Induction a. To investigate the emf induced in a coil that is swinging through a magnetic field; b. To investigate the energy conversion from mechanical energy to electrical
More informationAppendix A: Motion Control Theory
Appendix A: Motion Control Theory Objectives The objectives for this appendix are as follows: Learn about valve step response. Show examples and terminology related to valve and system damping. Gain an
More informationWelcome to the SEI presentation on the basics of electricity
Welcome to the SEI presentation on the basics of electricity 1 Electricity is a secondary energy source, meaning that it is produced from other, primary, energy sources. There are several primary sources
More informationTechnology in Transportation Exam 1 SOLUTIONS
Name: 16.682 Technology in Transportation Exam 1 SOLUTIONS April 5, 2011 Question 1: Internal Combustion Engine Technology (20 points) Use the torque/rpm curve below to answer the following questions:
More informationQuickStick Repeatability Analysis
QuickStick Repeatability Analysis Purpose This application note presents the variables that can affect the repeatability of positioning using a QuickStick system. Introduction Repeatability and accuracy
More informationStopping distance = thinking distance + braking distance.
Q1. (a) A driver may have to make an emergency stop. Stopping distance = thinking distance + braking distance. Give three different factors which affect the thinking distance or the braking distance. In
More informationPermanent Magnet DC Motor Operating as a Generator
Exercise 2 Permanent Magnet DC Motor Operating as a Generator EXERCIE OBJECTIVE When you have completed this exercise, you will be familiar with the construction of permanent magnet dc motors as well as
More informationApplication Notes. Calculating Mechanical Power Requirements. P rot = T x W
Application Notes Motor Calculations Calculating Mechanical Power Requirements Torque - Speed Curves Numerical Calculation Sample Calculation Thermal Calculations Motor Data Sheet Analysis Search Site
More informationThe purpose of this lab is to explore the timing and termination of a phase for the cross street approach of an isolated intersection.
1 The purpose of this lab is to explore the timing and termination of a phase for the cross street approach of an isolated intersection. Two learning objectives for this lab. We will proceed over the remainder
More informationLab 12: Faraday s Effect and LC Circuits
Part 1) Faraday s Law OBJECTIVES In this part of the lab you will Use Faraday s law to predict the emf produced in a coil from a time-varying magnetic field Measure the emf produced in a coil for a time-varying
More informationModelling of electronic throttle body for position control system development
Chapter 4 Modelling of electronic throttle body for position control system development 4.1. INTRODUCTION Based on the driver and other system requirements, the estimated throttle opening angle has to
More informationPHYS 2212L - Principles of Physics Laboratory II
PHYS 2212L - Principles of Physics Laboratory II Laboratory Advanced Sheet Faraday's Law 1. Objectives. The objectives of this laboratory are a. to verify the dependence of the induced emf in a coil on
More informationFriction and Momentum
Lesson Three Aims By the end of this lesson you should be able to: understand friction as a force that opposes motion, and use this to explain why falling objects reach a terminal velocity know that the
More informationStudy of the Performance of a Driver-vehicle System for Changing the Steering Characteristics of a Vehicle
20 Special Issue Estimation and Control of Vehicle Dynamics for Active Safety Research Report Study of the Performance of a Driver-vehicle System for Changing the Steering Characteristics of a Vehicle
More informationDC motor theory. Resources and methods for learning about these subjects (list a few here, in preparation for your research):
DC motor theory This worksheet and all related files are licensed under the Creative Commons Attribution License, version 1.0. To view a copy of this license, visit http://creativecommons.org/licenses/by/1.0/,
More informationCHAPTER 6 INTRODUCTION TO MOTORS AND GENERATORS
CHAPTER 6 INTRODUCTION TO MOTORS AND GENERATORS Objective Describe the necessary conditions for motor and generator operation. Calculate the force on a conductor carrying current in the presence of the
More information2015 The MathWorks, Inc. 1
2015 The MathWorks, Inc. 1 [Subtrack 2] Vehicle Dynamics Blockset 소개 김종헌부장 2015 The MathWorks, Inc. 2 Agenda What is Vehicle Dynamics Blockset? How can I use it? 3 Agenda What is Vehicle Dynamics Blockset?
More informationFriction. Coefficients of friction for rubber on roads are listed in the table. asphalt road) Dry road Wet road 0.53
Conceptual questions Friction 1 Most bikes have normal tires: some have fats. a Suppose the wheels on both a normal bike (not shown) and the bikes above have outside diameters of 67 cm. By using your own
More informationResearch on Skid Control of Small Electric Vehicle (Effect of Velocity Prediction by Observer System)
Proc. Schl. Eng. Tokai Univ., Ser. E (17) 15-1 Proc. Schl. Eng. Tokai Univ., Ser. E (17) - Research on Skid Control of Small Electric Vehicle (Effect of Prediction by Observer System) by Sean RITHY *1
More informationApplication Note : Comparative Motor Technologies
Application Note : Comparative Motor Technologies Air Motor and Cylinders Air Actuators use compressed air to move a piston for linear motion or turn a turbine for rotary motion. Responsiveness, speed
More informationReview on Handling Characteristics of Road Vehicles
RESEARCH ARTICLE OPEN ACCESS Review on Handling Characteristics of Road Vehicles D. A. Panke 1*, N. H. Ambhore 2, R. N. Marathe 3 1 Post Graduate Student, Department of Mechanical Engineering, Vishwakarma
More informationEE 370L Controls Laboratory. Laboratory Exercise #E1 Motor Control
1. Learning Objectives EE 370L Controls Laboratory Laboratory Exercise #E1 Motor Control Department of Electrical and Computer Engineering University of Nevada, at Las Vegas To demonstrate the concept
More information9/13/2017. Friction, Springs and Scales. Mid term exams. Summary. Investigating friction. Physics 1010: Dr. Eleanor Hodby
Day 6: Friction s Friction, s and Scales Physics 1010: Dr. Eleanor Hodby Reminders: Homework 3 due Monday, 10pm Regular office hours Th, Fri, Mon. Finish up/review lecture Tuesday Midterm 1 on Thursday
More informationPage 1. Design meeting 18/03/2008. By Mohamed KOUJILI
Page 1 Design meeting 18/03/2008 By Mohamed KOUJILI I. INTRODUCTION II. III. IV. CONSTRUCTION AND OPERATING PRINCIPLE 1. Stator 2. Rotor 3. Hall sensor 4. Theory of operation TORQUE/SPEED CHARACTERISTICS
More informationUniversity Of California, Berkeley Department of Mechanical Engineering. ME 131 Vehicle Dynamics & Control (4 units)
CATALOG DESCRIPTION University Of California, Berkeley Department of Mechanical Engineering ME 131 Vehicle Dynamics & Control (4 units) Undergraduate Elective Syllabus Physical understanding of automotive
More informationVR-Design Studio Car Physics Engine
VR-Design Studio Car Physics Engine Contents Introduction I General I.1 Model I.2 General physics I.3 Introduction to the force created by the wheels II The Engine II.1 Engine RPM II.2 Engine Torque II.3
More informationECH 4224L Unit Operations Lab I Fluid Flow FLUID FLOW. Introduction. General Description
FLUID FLOW Introduction Fluid flow is an important part of many processes, including transporting materials from one point to another, mixing of materials, and chemical reactions. In this experiment, you
More informationColumn Name Type Description Year Number Year of the data. Vehicle Miles Traveled
Background Information Each year, Americans drive trillions of miles in their vehicles. Until recently, the number of miles driven increased steadily each year. This drop-off in growth has raised questions
More informationAdams-EDEM Co-simulation for Predicting Military Vehicle Mobility on Soft Soil
Adams-EDEM Co-simulation for Predicting Military Vehicle Mobility on Soft Soil By Brian Edwards, Vehicle Dynamics Group, Pratt and Miller Engineering, USA 22 Engineering Reality Magazine Multibody Dynamics
More informationElectric Drives Experiment 3 Experimental Characterization of a DC Motor s Mechanical Parameters and its Torque-Speed Behavior
Electric Drives Experiment 3 Experimental Characterization of a DC Motor s Mechanical Parameters and its Torque-Speed Behavior 3.1 Objective The objective of this activity is to experimentally measure
More informationAlternator charging and power distribution system
Alternator charging and power distribution system 1. Overview: This example shows a typical automotive charging and power distribution system. Due to the technological advancements in electrical/electronics
More informationSAE Baja - Drivetrain
SAE Baja - Drivetrain By Ricardo Inzunza, Brandon Janca, Ryan Worden Team 11 Engineering Analysis Document Submitted towards partial fulfillment of the requirements for Mechanical Engineering Design I
More information(Refer Slide Time: 00:01:10min)
Introduction to Transportation Engineering Dr. Bhargab Maitra Department of Civil Engineering Indian Institute of Technology, Kharagpur Lecture - 11 Overtaking, Intermediate and Headlight Sight Distances
More informationFuel Strategy (Exponential Decay)
By Ten80 Education Fuel Strategy (Exponential Decay) STEM Lesson for TI-Nspire Technology Objective: Collect data and analyze the data using graphs and regressions to understand conservation of energy
More informationToday s lecture: Generators Eddy Currents Self Inductance Energy Stored in a Magnetic Field
PHYSICS 1B Today s lecture: Generators Eddy Currents Self Inductance Energy Stored in a Magnetic Field PHYSICS 1B Lenz's Law Generators Electric generators take in energy by work and transfer it out by
More informationAC Motors vs DC Motors. DC Motors. DC Motor Classification ... Prof. Dr. M. Zahurul Haq
AC Motors vs DC Motors DC Motors Prof. Dr. M. Zahurul Haq http://teacher.buet.ac.bd/zahurul/ Department of Mechanical Engineering Bangladesh University of Engineering & Technology ME 6401: Advanced Mechatronics
More information4. Electromechanical Systems. Karadeniz Technical University Department of Electrical and Electronics Engineering Trabzon, Turkey.
Karadeniz Technical University Department of Electrical and Electronics Engineering 61080 Trabzon, Turkey Chapter 3-4-1 Modelling of Physical Systems 4. Electromechanical Systems Bu ders notları sadece
More informationDesign of a Custom Vortex generator Optimization of Vehicle Drag and Lift Characteristics
Design of a Custom Vortex generator Optimization of Vehicle Drag and Lift Characteristics Naveen. S 1, Vipin Prakkash 2, Sukanth Kannan 3 1, 2, 3 Senior Engineer, Sharda Motor Industries Limited R&D, Chennai,
More informationReduction of Self Induced Vibration in Rotary Stirling Cycle Coolers
Reduction of Self Induced Vibration in Rotary Stirling Cycle Coolers U. Bin-Nun FLIR Systems Inc. Boston, MA 01862 ABSTRACT Cryocooler self induced vibration is a major consideration in the design of IR
More informationLab 3 : Electric Potentials
Lab 3 : Electric Potentials INTRODUCTION: When a point charge is in an electric field a force is exerted on the particle. If the particle moves then the electrical work done is W=F x. In general, W = dw
More informationAutonomous Mobile Robot Design
Autonomous Mobile Robot Design Topic: Propulsion Systems for Robotics Dr. Kostas Alexis (CSE) Propulsion Systems for Robotics How do I move? Understanding propulsion systems is about knowing how a mobile
More informationYou have probably noticed that there are several camps
Pump Ed 101 Joe Evans, Ph.D. Comparing Energy Consumption: To VFD or Not to VFD You have probably noticed that there are several camps out there when it comes to centrifugal pump applications involving
More informationRoehrig Engineering, Inc.
Roehrig Engineering, Inc. Home Contact Us Roehrig News New Products Products Software Downloads Technical Info Forums What Is a Shock Dynamometer? by Paul Haney, Sept. 9, 2004 Racers are beginning to realize
More informationME 455 Lecture Ideas, Fall 2010
ME 455 Lecture Ideas, Fall 2010 COURSE INTRODUCTION Course goal, design a vehicle (SAE Baja and Formula) Half lecture half project work Group and individual work, integrated Design - optimal solution subject
More informationAccident Reconstruction & Vehicle Data Recovery Systems and Uses
Research Engineers, Inc. (919) 781-7730 7730 Collision Analysis Engineering Animation Accident Reconstruction & Vehicle Data Recovery Systems and Uses Bill Kluge Thursday, May 21, 2009 Accident Reconstruction
More informationNEW CAR TIPS. Teaching Guidelines
NEW CAR TIPS Teaching Guidelines Subject: Algebra Topics: Patterns and Functions Grades: 7-12 Concepts: Independent and dependent variables Slope Direct variation (optional) Knowledge and Skills: Can relate
More informationAnalysis. Techniques for. Racecar Data. Acquisition, Second Edition. By Jorge Segers INTERNATIONAL, Warrendale, Pennsylvania, USA
Analysis Techniques for Racecar Data Acquisition, Second Edition By Jorge Segers INTERNATIONAL, Warrendale, Pennsylvania, USA Preface to the Second Edition xiii Preface to the First Edition xv Acknowledgments
More informationINDUCTANCE FM CHAPTER 6
CHAPTER 6 INDUCTANCE INTRODUCTION The study of inductance is a very challenging but rewarding segment of electricity. It is challenging because at first it seems that new concepts are being introduced.
More informationCHAPTER 4 MODELING OF PERMANENT MAGNET SYNCHRONOUS GENERATOR BASED WIND ENERGY CONVERSION SYSTEM
47 CHAPTER 4 MODELING OF PERMANENT MAGNET SYNCHRONOUS GENERATOR BASED WIND ENERGY CONVERSION SYSTEM 4.1 INTRODUCTION Wind energy has been the subject of much recent research and development. The only negative
More informationDrones Demystified! Topic: Propulsion Systems
Drones Demystified! K. Alexis, C. Papachristos, Autonomous Robots Lab, University of Nevada, Reno A. Tzes, Autonomous Robots & Intelligent Systems Lab, NYU Abu Dhabi Drones Demystified! Topic: Propulsion
More informationGeneral Purpose Permanent Magnet Motor Drive without Speed and Position Sensor
General Purpose Permanent Magnet Motor Drive without Speed and Position Sensor Jun Kang, PhD Yaskawa Electric America, Inc. 1. Power consumption by electric motors Fig.1 Yaskawa V1000 Drive and a PM motor
More informationVehicle Dynamics and Drive Control for Adaptive Cruise Vehicles
Vehicle Dynamics and Drive Control for Adaptive Cruise Vehicles Dileep K 1, Sreepriya S 2, Sreedeep Krishnan 3 1,3 Assistant Professor, Dept. of AE&I, ASIET Kalady, Kerala, India 2Associate Professor,
More informationDESIGN AND ANALYSIS OF UNDERTRAY DIFFUSER FOR A FORMULA STYLE RACECAR
DESIGN AND ANALYSIS OF UNDERTRAY DIFFUSER FOR A FORMULA STYLE RACECAR Ali Asgar S. Khokhar 1, Suhas S. Shirolkar 2 1 Graduate in Mechanical Engineering, KJ Somaiya College of Engineering, Mumbai, India.
More informationVehicle Dynamic Simulation Using A Non-Linear Finite Element Simulation Program (LS-DYNA)
Vehicle Dynamic Simulation Using A Non-Linear Finite Element Simulation Program (LS-DYNA) G. S. Choi and H. K. Min Kia Motors Technical Center 3-61 INTRODUCTION The reason manufacturers invest their time
More informationHistorical Development
TOPIC 3 DC MACHINES DC Machines 2 Historical Development Direct current (DC) motor is one of the first machines devised to convert electrical power into mechanical power. Its origin can be traced to the
More informationThe Car Tutorial Part 2 Creating a Racing Game for Unity
The Car Tutorial Part 2 Creating a Racing Game for Unity Part 2: Tweaking the Car 3 Center of Mass 3 Suspension 5 Suspension range 6 Suspension damper 6 Drag Multiplier 6 Speed, turning and gears 8 Exporting
More informationPart 1. The three levels to understanding how to achieve maximize traction.
Notes for the 2017 Prepare to Win Seminar Part 1. The three levels to understanding how to achieve maximize traction. Level 1 Understanding Weight Transfer and Tire Efficiency Principle #1 Total weight
More informationUnit 8 ~ Learning Guide Name:
Unit 8 ~ Learning Guide Name: Instructions: Using a pencil, complete the following notes as you work through the related lessons. Show ALL work as is explained in the lessons. You are required to have
More informationFigure 1: Relative Directions as Defined for Faraday s Law
Faraday s Law INTRODUCTION This experiment examines Faraday s law of electromagnetic induction. The phenomenon involves induced voltages and currents due to changing magnetic fields. (Do not confuse this
More informationComponents of Hydronic Systems
Valve and Actuator Manual 977 Hydronic System Basics Section Engineering Bulletin H111 Issue Date 0789 Components of Hydronic Systems The performance of a hydronic system depends upon many factors. Because
More informationNewton s First Law. Evaluation copy. Vernier data-collection interface
Newton s First Law Experiment 3 INTRODUCTION Everyone knows that force and motion are related. A stationary object will not begin to move unless some agent applies a force to it. But just how does the
More informationChapter 1: Battery management: State of charge
Chapter 1: Battery management: State of charge Since the mobility need of the people, portable energy is one of the most important development fields nowadays. There are many types of portable energy device
More informationVehicle Dynamics and Control
Rajesh Rajamani Vehicle Dynamics and Control Springer Contents Dedication Preface Acknowledgments v ix xxv 1. INTRODUCTION 1 1.1 Driver Assistance Systems 2 1.2 Active Stabiüty Control Systems 2 1.3 RideQuality
More informationSpeaD is actually 3 tools that combine to create a complete speaker design.
What is SpeaD? SpeaD is a revolutionary tool... that allows a speaker engineer to easily predict the Thiele / Small parameters for any speaker by simply describing its physical parts. SpeaD is actually
More informationME 466 PERFORMANCE OF ROAD VEHICLES 2016 Spring Homework 3 Assigned on Due date:
PROBLEM 1 For the vehicle with the attached specifications and road test results a) Draw the tractive effort [N] versus velocity [kph] for each gear on the same plot. b) Draw the variation of total resistance
More informationElectrical Machines I Week 1: Overview, Construction and EMF equation
Electrical Machines I Week 1: Overview, Construction and EMF equation Course Contents Definition of the magnetic terms, magnetic materials and the B-H curve. Magnetic circuits principles. Electromechanical
More informationMechatronics Chapter 10 Actuators 10-3
MEMS1049 Mechatronics Chapter 10 Actuators 10-3 Electric Motor DC Motor DC Motor DC Motor DC Motor DC Motor Motor terminology Motor field current interaction Motor commutator It consists of a ring of
More informationInduction motors advantages of induction motors squirrel cage motor
AC Motors With AC currents, we can reverse field directions without having to use brushes. This is good news, because we can avoid the arcing, the ozone production and the ohmic loss of energy that brushes
More informationElectric cars: Technology
In his lecture, Professor Pavol Bauer explains all about how power is converted between the various power sources and power consumers in an electric vehicle. This is done using power electronic converters.
More informationExploring the Energy Grid Grades 6-8. Name:
Exploring the Energy Grid Grades 6-8 Name: Exploration 1 Rapidly turn the handles clockwise on all three generators at the end of the table, watching the System Voltage panel: 1. Draw the needle when the
More informationNote 8. Electric Actuators
Note 8 Electric Actuators Department of Mechanical Engineering, University Of Saskatchewan, 57 Campus Drive, Saskatoon, SK S7N 5A9, Canada 1 1. Introduction In a typical closed-loop, or feedback, control
More informationInternational Journal of Advance Engineering and Research Development A THREE PHASE SENSOR LESS FIELD ORIENTED CONTROL FOR BLDC MOTOR
Scientific Journal of Impact Factor (SJIF): 4.72 e-issn (O): 2348-4470 p-issn (P): 2348-6406 International Journal of Advance Engineering and Research Development Volume 4, Issue 11, November -2017 A THREE
More informationImprovement of Vehicle Dynamics by Right-and-Left Torque Vectoring System in Various Drivetrains x
Improvement of Vehicle Dynamics by Right-and-Left Torque Vectoring System in Various Drivetrains x Kaoru SAWASE* Yuichi USHIRODA* Abstract This paper describes the verification by calculation of vehicle
More informationtest with confidence HV Series TM Test Systems Hydraulic Vibration
test with confidence HV Series TM Test Systems Hydraulic Vibration Experience. Technology. Value. The Difference. HV Series TM. The Difference. Our philosophy is simple. Provide a system designed for optimum
More informationElectromagnetic Induction (approx. 1.5 h) (11/9/15)
(approx. 1.5 h) (11/9/15) Introduction In 1819, during a lecture demonstration, the Danish scientist Hans Christian Oersted noticed that the needle of a compass was deflected when placed near a current-carrying
More informationTSFS02 Vehicle Dynamics and Control. Computer Exercise 2: Lateral Dynamics
TSFS02 Vehicle Dynamics and Control Computer Exercise 2: Lateral Dynamics Division of Vehicular Systems Department of Electrical Engineering Linköping University SE-581 33 Linköping, Sweden 1 Contents
More informationMODELING SUSPENSION DAMPER MODULES USING LS-DYNA
MODELING SUSPENSION DAMPER MODULES USING LS-DYNA Jason J. Tao Delphi Automotive Systems Energy & Chassis Systems Division 435 Cincinnati Street Dayton, OH 4548 Telephone: (937) 455-6298 E-mail: Jason.J.Tao@Delphiauto.com
More informationPage 2. The go-kart always had the same mass and used the same motor.
Q1.(a) Some students have designed and built an electric-powered go-kart. After testing, the students decided to make changes to the design of their go-kart. The go-kart always had the same mass and used
More informationDesign Methodology of Steering System for All-Terrain Vehicles
Design Methodology of Steering System for All-Terrain Vehicles Dr. V.K. Saini*, Prof. Sunil Kumar Amit Kumar Shakya #1, Harshit Mishra #2 *Head of Dep t of Mechanical Engineering, IMS Engineering College,
More informationEML 342 Internal Combustion Engines Lab Spring 2008 Prof. Horizon Gitano Lab Guide Rev 1
USM Mechanical Engineering EML 342 Internal Combustion Engines Lab Spring 2008 Prof. Horizon Gitano Lab Guide Rev 1 www.skyshorz.com/university/resource.php Internal Combustion Engines: Performance Measurements
More informationElectrical machines - generators and motors
Electrical machines - generators and motors We have seen that when a conductor is moved in a magnetic field or when a magnet is moved near a conductor, a current flows in the conductor. The amount of current
More informationINCREASING ENERGY EFFICIENCY BY MODEL BASED DESIGN
INCREASING ENERGY EFFICIENCY BY MODEL BASED DESIGN GREGORY PINTE THE MATHWORKS CONFERENCE 2015 EINDHOVEN 23/06/2015 FLANDERS MAKE Strategic Research Center for the manufacturing industry Integrating the
More informationChapter 5: DC Motors. 9/18/2003 Electromechanical Dynamics 1
Chapter 5: DC Motors 9/18/2003 Electromechanical Dynamics 1 Reversing the Rotation Direction The direction of rotation can be reversed by reversing the current flow in either the armature connection the
More information1. Which device creates a current based on the principle of electromagnetic induction?
Assignment 2 Electromagnetism Name: 1. Which device creates a current based on the principle of electromagnetic induction? A) galvanometer B) generator C) motor D) solenoid 2. The bar magnet below enters
More information